Bearing-based Formation with Disturbance Rejection

TL;DR

This paper develops a smooth bearing-based formation control method with disturbance rejection capabilities for agents under leader-follower structure, handling both known and unknown frequency disturbances using internal models and adaptive control.

Contribution

It introduces a novel disturbance rejection approach for bearing-based formation control that handles unknown frequency disturbances with a smooth control law, extending existing results.

Findings

Successfully rejects disturbances with known frequencies using internal models.

Handles unknown frequency disturbances with combined internal model and adaptive control.

Control law remains smooth despite disturbance rejection complexity.

Abstract

This paper considers the problem of the bearing-based formation control with disturbance rejection for a group of agents under the leader-follower structure. The disturbances are in the form of a trigonometric polynomial with arbitrary unknown amplitudes, unknown initial phases, and known or unknown frequencies. For the case of the known frequencies, we employ the canonical internal model to solve the problem, and, for the case of the unknown frequencies, we combine the canonical internal model and {some} distributed adaptive control technique to deal with the problem. It is noted that the existing results can only handle constant input disturbances by continuous control laws or disturbances with known {bounds} by discontinuous control laws. The first case is a special case of our result. The second case cannot cover our results because the bound of our disturbance is unknown. Moreover, our control law is smooth.